From cd12d8bd00c88772912123b0eaa35b8b697f7006 Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Tue, 27 Feb 2024 16:34:47 -0700
Subject: [PATCH] Force auto tune

---
 common/params.cc                           | 1 +
 selfdrive/controls/controlsd.py            | 3 ++-
 selfdrive/frogpilot/ui/control_settings.cc | 1 +
 selfdrive/frogpilot/ui/control_settings.h  | 2 +-
 4 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/common/params.cc b/common/params.cc
index 7be23cc..1c972be 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -260,6 +260,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ExperimentalModeViaLKAS", PERSISTENT},
     {"ExperimentalModeViaScreen", PERSISTENT},
     {"FireTheBabysitter", PERSISTENT},
+    {"ForceAutoTune", PERSISTENT},
     {"FrogPilotTogglesUpdated", PERSISTENT},
     {"FrogsGoMoo", PERSISTENT},
     {"GoatScream", PERSISTENT},
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 7e569d8..ccaee67 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -677,7 +677,7 @@ class Controls:
     # Update Torque Params
     if self.CP.lateralTuning.which() == 'torque':
       torque_params = self.sm['liveTorqueParameters']
-      if self.sm.all_checks(['liveTorqueParameters']) and torque_params.useParams:
+      if self.sm.all_checks(['liveTorqueParameters']) and (torque_params.useParams or self.force_auto_tune):
         self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
                                            torque_params.frictionCoefficientFiltered)
 
@@ -1028,6 +1028,7 @@ class Controls:
     self.frogpilot_variables.experimental_mode_via_lkas = experimental_mode_activation and self.params.get_bool("ExperimentalModeViaLKAS")
 
     lateral_tune = self.params.get_bool("LateralTune")
+    self.force_auto_tune = lateral_tune and self.params.get_float("ForceAutoTune")
 
     longitudinal_tune = self.params.get_bool("LongitudinalTune")
     self.frogpilot_variables.sport_plus = longitudinal_tune and self.params.get_int("AccelerationProfile") == 3
diff --git a/selfdrive/frogpilot/ui/control_settings.cc b/selfdrive/frogpilot/ui/control_settings.cc
index 4489502..14e73fe 100644
--- a/selfdrive/frogpilot/ui/control_settings.cc
+++ b/selfdrive/frogpilot/ui/control_settings.cc
@@ -25,6 +25,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
     {"NoUploads", "Disable Uploads", "Turn off all data uploads to comma's servers.\n\nWARNING: This action will prevent your drives from appearing on comma connect which may impact debugging and support!", ""},
 
     {"LateralTune", "Lateral Tuning", "Modify openpilot's steering behavior.", "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"},
+    {"ForceAutoTune", "Force Auto Tune", "Forces comma's auto lateral tuning for unsupported vehicles.", ""},
 
     {"LongitudinalTune", "Longitudinal Tuning", "Modify openpilot's acceleration and braking behavior.", "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"},
     {"AccelerationProfile", "Acceleration Profile", "Change the acceleration rate to be either sporty or eco-friendly.", ""},
diff --git a/selfdrive/frogpilot/ui/control_settings.h b/selfdrive/frogpilot/ui/control_settings.h
index 300dbeb..b3c0307 100644
--- a/selfdrive/frogpilot/ui/control_settings.h
+++ b/selfdrive/frogpilot/ui/control_settings.h
@@ -39,7 +39,7 @@ private:
   std::set<QString> experimentalModeActivationKeys = {"ExperimentalModeViaDistance", "ExperimentalModeViaLKAS", "ExperimentalModeViaScreen"};
   std::set<QString> fireTheBabysitterKeys = {"NoLogging", "MuteOverheated", "NoUploads"};
   std::set<QString> laneChangeKeys = {};
-  std::set<QString> lateralTuneKeys = {};
+  std::set<QString> lateralTuneKeys = {"ForceAutoTune"};
   std::set<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "AggressiveAcceleration"};
   std::set<QString> mtscKeys = {};
   std::set<QString> qolKeys = {"DisableOnroadUploads"};